Vehicle path planning by using adaptive constrained distance transformation

摘要

The adaptive constrained distance transformation (ACDT) is proposed to solve the vehicle path planning problem. The ACDT is a generalization of the constrained distance transformation. The incremental distance of the constrained distance transformation is modified into the incremental cost. By defining the incremental cost according to the incremental distance, the vehicle characteristics, and the local spatial properties of the terrain, the adaptive constrained distance transformation can be applied to solve the vehicle path planning problem that accounts for more than the Euclidean distance and hard constraints.